CN112965373A - Path tracking control method for agricultural and mining articulated vehicle - Google Patents
Path tracking control method for agricultural and mining articulated vehicle Download PDFInfo
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- CN112965373A CN112965373A CN202110142953.1A CN202110142953A CN112965373A CN 112965373 A CN112965373 A CN 112965373A CN 202110142953 A CN202110142953 A CN 202110142953A CN 112965373 A CN112965373 A CN 112965373A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The invention discloses a path tracking control method for an agricultural and mining articulated vehicle, which comprises the following steps: recording parameters of the articulated vehicle; the controller performs RTK resolving according to the base station differential signal acquired by the GNSS board card to acquire real-time position information of the vehicle, and performs attitude estimation and attitude correction through the IMU and the resolved position information to acquire accurate attitude information; when an automatic driving instruction is issued, calculating the transverse deviation and speed information between the vehicle and a preset path according to a preset running track, the current position and the current course of the vehicle; calculating to obtain a target angle of the hinged part according to the transverse deviation, the course deviation, the angle of the hinged part, the feedback gain matrix and the integral coefficient of the transverse deviation; according to the invention, the control target parameters, the maximum rotation angle constraint and the integral coefficient are changed in real time according to the vehicle speed information and the transverse deviation information, so that the vehicle body shake of the articulated vehicle in the automatic driving mode can be effectively inhibited, and the track tracking control precision is improved.
Description
Technical Field
The invention relates to the field of path tracking control, in particular to a path tracking control method for an agricultural and mining articulated vehicle.
Background
An underground auxiliary transport vehicle is a common articulated vehicle, which generally comprises a front vehicle body and a rear vehicle body, the front vehicle body and the rear vehicle body being connected in an articulated manner. The front body of the underground auxiliary transport vehicle generally comprises a frame, and a diesel engine, a cab, a water cooling device, a front vehicle drive axle, a diesel oil tank, a hydraulic oil tank and other components which are arranged on the frame, wherein the frame is used for bearing the weight of the diesel engine, the cab, the water cooling device, the front vehicle drive axle, the diesel oil tank, the hydraulic oil tank and other components, so whether the structural arrangement of the frame is reasonable or not is a main factor for determining the power performance of the underground auxiliary transport vehicle;
at present, an articulated vehicle is not easy to control on muddy, rock and uneven road surfaces, and the frame can be damaged under the condition of large-angle turning.
Disclosure of Invention
Aiming at the problems in the prior art, the invention mainly provides a path tracking control method for agricultural and mining articulated vehicles, and the method can change control target parameters, maximum rotation angle constraint and integral coefficients in real time according to vehicle speed information and transverse deviation information, can effectively inhibit the shaking of the articulated vehicle body in an automatic driving mode, and improves the track tracking control precision.
In order to achieve the purpose, the invention provides the following technical scheme: an articulated vehicle path tracking control method for agricultural and mining comprises the following steps:
step (1): recording parameters of the articulated vehicle;
step (2): the controller performs RTK resolving according to the base station differential signal acquired by the GNSS board card to acquire real-time position information of the vehicle, and performs attitude estimation and attitude correction through the IMU and the resolved position information to acquire accurate attitude information;
and (3): when an automatic driving instruction is issued, calculating the transverse deviation and speed information between the vehicle and the preset path according to the preset running track, the current position and the current course of the vehicle, and if not, returning to the step (2);
and (4): calculating to obtain a target angle of the hinged part according to the transverse deviation, the course deviation, the angle of the hinged part, the feedback gain matrix and the integral coefficient of the transverse deviation;
and (5): and sending the target angle of the hinged part to the electric steering wheel, and controlling the hydraulic device by the electric steering wheel to change the angle of the hinged part.
Preferably, in the step (1): the parameters recorded for the articulated vehicle include the distance from the center of the front wheel to the articulation, the distance from the center of the rear wheel to the articulation, and the distance from the GNSS antenna to the center of the wheel.
Preferably, the step (3) further comprises: adjusting the weight of course deviation and transverse deviation in the whole objective function according to the speed information of the vehicle; and updating the kinematic error model of the vehicle according to the speed information of the vehicle, and calculating a feedback gain matrix according to the updated objective function and the error model.
Preferably, the control module comprises a controller, a satellite antenna, an android display, an electric steering wheel and an angle sensor, the satellite antenna is installed on the roof of the front frame, the angle sensor is installed at the joint of the front frame and the rear frame, and other equipment is installed in the cab.
Preferably, the controller is internally provided with a GNSS board card, an IMU and a central processing unit, the electric steering wheel and the angle sensor are communicated with the controller through a CAN bus, and differential information sent by the base station or the server is received in real time through the 4G/GPRS receiver and is sent to the GNSS module.
Preferably, the central processing unit is used for acquiring data fed back by the GNSS board card, the IMU, the electric steering wheel and the angle sensor, and real-time position information, speed information, course information and angle information of a hinged part of the vehicle during running are acquired by a combined navigation algorithm and a single antenna fusion method; calculating the transverse deviation and course deviation information between the vehicle and a reference path according to the pose information obtained in real time and the operation path information issued by the android display; and sending the information of the transverse deviation, the course deviation, the speed and the angle at the hinged part to a control method, calculating a target angle at the hinged part, sending the target angle to the electric steering wheel through a CAN bus, and finishing control execution by the electric steering wheel.
Compared with the prior art, the invention has the following beneficial effects:
1. the track tracking control method can be used for agricultural and mining articulated vehicles;
2. the track tracking control method can realize centimeter-level tracking control effect;
3. according to the invention, the control target parameters, the maximum rotation angle constraint and the integral coefficient are changed in real time according to the vehicle speed information and the transverse deviation information, so that the vehicle body shake of the articulated vehicle in the automatic driving mode can be effectively inhibited, and the track tracking control precision is improved.
4. The feedback gain matrix calculation method of the invention adopts the feedback matrix output by the last calculation as the initial value of the current iterative calculation, thereby reducing the iterative calculation time.
5. The invention utilizes the fusion of the satellite speed course and the inertial navigation information to calculate the vehicle course angle in real time, simultaneously makes up for the defects of gyroscope integral divergence and low satellite speed course precision, and obtains a continuous, high-precision and stable course angle.
Drawings
FIG. 1 is a schematic view of parameters of an articulated vehicle according to the invention;
FIG. 2 is a block diagram of the components of the automatic steering hardware of the articulated vehicle according to the present invention;
FIG. 3 is an overall flowchart of the trajectory tracking control of the articulated vehicle according to the present invention;
fig. 4 is a flow chart of online solving the feedback matrix in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the invention aims to solve the problems of frequent vehicle body shaking and low accuracy of following a reference track in the track tracking process of an articulated vehicle in an automatic driving mode, and the articulated vehicle mainly comprises a front vehicle frame, an articulated steering mechanism and a rear vehicle frame as shown in fig. 1. The articulated steering structure pushes the front frame and the rear frame to rotate when the steering wheel rotates, so that an angle delta is generated at the joint of the front frame and the rear frame, and therefore the steering part of the articulated vehicle is positioned in the middle of the vehicle. When the articulated vehicle is controlled to steer, the front end of the front frame and the tail end of the rear frame rotate towards the middle around the articulated part, the two parts rotate simultaneously, so that the shaking of the vehicle body is larger than that of the vehicle steered by the front wheels, and the difficulty of track tracking control of the articulated vehicle is increased as the front frame and the rear frame rotate towards different directions during steering; in FIG. 1, exRepresents: front frame centerA vertical distance to a reference track; e.g. of the typehRepresents: an included angle between the front frame and the reference track; δ represents: the included angle between the front frame and the rear frame.
The front frame-articulated steering mechanism-rear frame combination of an articulated vehicle allows the body and the loading unit to be bent separately, does not cause frame damage in the case of large-angle turning, is easier to operate on muddy, rocky, uneven roads, and is widely applied to agricultural pesticide application and mineral transportation. The trajectory tracking control method of the articulated vehicle is used as a core key technology in the automatic driving technology in the fields of precision agriculture and digital construction. The articulated vehicle track tracking control mainly comprises a preset navigation path, a real-time pose of the vehicle, a control algorithm, an electric steering wheel and the like. Accurately acquiring real-time pose information of a vehicle is a precondition for accurately following a preset track; the efficient control algorithm can accurately and quickly output a control instruction according to the difference between the current pose and the preset pose of the vehicle; the reliable electric steering wheel can accurately and quickly execute the control command. The main solution is as follows:
the method comprises the following steps: off-line fixed parameter based methods: according to a mathematical model of the vehicle established in an off-line state, a control algorithm is designed by the Lyapunov stability theorem, and specific numerical values of parameters in the control algorithm are continuously adjusted in simulation and actual processes until a control effect meets requirements. The control law is then used in the actual process to control the trajectory of the vehicle. Such as: the common sliding mode variable structure control and the like calculate a control law through off-line and act on an actual system. The method has the characteristics that the off-line calculation control law greatly reduces the calculation time in an actual system in the actual use process, and meanwhile, the relevant parameters in the control law cannot be changed according to the actual state of the vehicle.
The second method comprises the following steps: the method for on-line based on the fixed objective function comprises the following steps: according to the established mathematical model of the vehicle, an expected objective function is designed, a formula or a method for solving the control law is designed, and in an actual system, the control law and the control quantity are solved in real time according to the objective function and the control law solving method which are designed in advance and act on an executing mechanism, such as model prediction control and the like. The method is characterized in that certain calculation time is needed when the control law and the control quantity are calculated in real time, so that the calculation time is reduced to be difficult of the algorithm, and simultaneously, the objective function can not be changed in real time according to the state of the vehicle.
In the two track tracking control methods, the control law or the control quantity is calculated based on fixed parameters, and the control law or the control quantity cannot be properly adjusted according to the actual state of the vehicle, so that a good track tracking effect can be obtained only when the vehicle is required to be in a certain state range, such as a speed range, in a small range in the actual use process.
The invention adopts a method of an objective function changing on line. In practice, some parameters in the objective function, the integral coefficient and the amplitude limit of the maximum rotation angle are changed according to the speed and the lateral deviation of the vehicle. The control law is solved in a time iteration mode adopted in the process of calculating the control law in real time on line, and because the change of a kinematic error model of the vehicle is not very large in two adjacent sampling intervals, the initial value of iteration solving is the last calculation result, and the calculation time can be reduced to a certain extent.
The method comprises the following specific steps:
the invention provides a path tracking control method for an agricultural and mining articulated vehicle, wherein a control module is structurally shown in figure 2 and comprises a controller, a satellite antenna, an android display, an electric steering wheel, an angle sensor and a related feeder line, the satellite antenna is installed on the roof of a front frame, the angle sensor is installed at the joint of the front frame and a rear frame, and other devices are installed in a cab.
In the invention, a GNSS board card, an IMU and a central processing unit are arranged in the controller, and the electric steering wheel and the angle sensor are communicated with the controller through a CAN bus. The 4G/GPRS receiver receives the differential information sent by the base station or the server in real time and sends the differential information to the GNSS module. The central processing unit obtains data fed back by the GNSS board card, the IMU, the electric steering wheel and the angle sensor, and obtains real-time position information, speed information, course information and angle information of the articulated part of the vehicle through a combined navigation algorithm and a single antenna fusion method.
The specific control flow comprises the following steps:
and calculating the transverse deviation and course deviation information between the vehicle and the reference path according to the pose information obtained in real time and the operation path information issued by the android display. And finally, sending the information of the transverse deviation, the course deviation, the speed and the angle at the hinged part to a control method, calculating a target angle at the hinged part, sending the target angle to the electric steering wheel through a CAN bus, and finishing control execution by the electric steering wheel.
Adjusting model parameters: and in the model calculation process, some changed parameters are used as a part of the model, and specific values of the parameters are acquired in real time for updating the model.
Automatic control parameter adjustment: the articulated vehicle is characterized in that a middle steering mechanism drives a front frame and a rear frame to rotate, and two parts of the vehicle body rotating simultaneously under the condition of higher speed are likely to be instable, so that the higher the speed is, the higher the heading index occupation ratio of the vehicle is, and the smaller the occupation ratio of relative transverse deviation is. Meanwhile, the maximum steering angle is restrained in a smaller range when the speed of the vehicle is higher, and the restraint range of the maximum steering angle is larger when the speed is lower.
The automatic control feedback matrix calculation method comprises the following steps: and calculating an error proportion feedback control gain matrix according to the established error model of the articulated vehicle track tracking control. The control gain matrix is calculated according to a real-time error model of the vehicle, and the calculation method adopts a mode of continuously iteratively solving the Ricketti equation. When the difference between the results of two adjacent iterations is small (less than 10)-10) And then outputting the calculation result. The difference of the error models of two adjacent sampling intervals is not very large, so that the initial value of iterative computation is the result output by the last iteration, and the efficiency of computing the feedback gain matrix can be improved to a certain extent.
The integral control method comprises the following steps: the variable speed integral control is added on the basis of the proportional feedback gain matrix, and when the deviation is overlarge, the variable speed integral control does not have an integral effect, and mainly the proportional feedback control plays a role. When the deviation is larger in a certain range, the integral action is smaller, and the integral action is larger when the deviation is smaller. The control precision is improved and the situation of integral saturation is avoided by increasing the variable speed integral.
The method can change the objective function parameters in the control algorithm in real time according to the state model parameters of the vehicle, control the parameters according to the transverse deviation between the current position of the vehicle and the reference track and improve the calculation efficiency of the feedback matrix. Wherein changing the model parameters according to the state of the vehicle includes acquiring and updating parameters that cannot be determined in advance or cannot be controlled in the model in real time in an actual control process to update the model. Changing the objective function parameters in the control algorithm based on the vehicle state includes changing the lateral deviation ratio as the heading deviation ratio in the objective function is higher as the vehicle speed is higher. Changing the control parameter according to the lateral deviation between the current position of the vehicle and the reference trajectory includes that the larger the lateral deviation is, the smaller the integral coefficient is, when the lateral deviation is within a certain range, the integral coefficient is not being changed when the lateral deviation is too small, and the smaller the integral coefficient is when the lateral deviation is too large. The method for improving the calculation efficiency of the feedback matrix comprises the step of taking an output result obtained when the feedback matrix is calculated last time as an initial value when the feedback matrix is calculated currently so as to improve the calculation efficiency.
The following provides an embodiment of the present invention
Example 1
Referring to fig. 3-4, an articulated vehicle path tracking control method for agricultural and mining includes the following steps:
in a first step, the parameters of the articulated vehicle are recorded, wherein the parameters comprise the distance from the center of the front wheel to the articulated part, the distance from the center of the rear wheel to the articulated part and the distance from the GNSS antenna to the center of the wheel.
And secondly, starting a program, acquiring a preset running track sent by the panel to the controller, performing RTK (real-time kinematic) solution on the controller according to the base station differential signal acquired by the GNSS board card to acquire real-time position information of the vehicle, and performing attitude estimation and attitude correction on the position information acquired by IMU and solution to acquire accurate attitude information.
And thirdly, when the display issues an automatic driving instruction, calculating the transverse deviation and the speed information between the vehicle and the preset path according to the preset running track, the current position and the current course of the vehicle, and if not, returning to the second step.
And fourthly, adjusting the course deviation and the weight of the transverse deviation in the whole objective function according to the speed information of the vehicle, wherein the larger the speed is, the larger the proportion of the course deviation is, and the proportion of the corresponding transverse deviation is reduced.
And fifthly, updating a kinematic error model of the vehicle according to the speed information of the vehicle, and calculating a feedback gain matrix according to the updated objective function and the error model.
And sixthly, adjusting the coefficient of the integral term according to the transverse deviation calculated in the third step. When the lateral deviation is in a certain range, the integral coefficient is smaller when the deviation is larger, the integral coefficient is kept unchanged when the deviation is smaller to a certain range, and the integral coefficient is 0 when the deviation is overlarge.
And seventhly, calculating to obtain a target angle of the hinged part according to the transverse deviation, the course deviation, the angle of the hinged part, the feedback gain matrix and the integral coefficient of the transverse deviation.
And eighthly, sending the target angle of the hinged part to the electric steering wheel, and controlling the hydraulic device to change the angle of the hinged part by the electric steering wheel.
In addition, in the present invention, regarding the flowchart for iteratively calculating the feedback gain matrix, as shown in fig. 4:
in the first step, an error model of the vehicle is updated, and matrix parameters in the objective function are updated.
Second, initialize matrix S0Assigned value of InitS
Thirdly, iteratively solving the matrix Sk
The fourth step, calculate SkAnd Sk-1Infinite norm of difference ek
The fifth step, calculate ekAnd ek-1Absolute value of the difference Δ ek
Sixth, if Δ ekStopping iteration if the power is less than 10 to the power of-10, and returning to the third step to continue iterative solution Sk。
Seventh step, when Δ ekThe iterative output matrix S of this order is saved when the power of-10 is less than 10kThe InitS is set so that the next iteration starts from the last result, which can reduce the time required for iterative computation.
The invention can be used on agricultural and mining articulated vehicles; centimeter-level tracking control effect can be realized; and the control target parameters, the maximum rotation angle constraint and the integral coefficient are changed in real time according to the vehicle speed information and the transverse deviation information, so that the vehicle body shake of the articulated vehicle in an automatic driving mode can be effectively inhibited, and the track tracking control precision is improved. The calculation method of the feedback gain matrix adopts the feedback matrix output by the last calculation as the initial value of the current iterative calculation, thereby reducing the iterative calculation time. The vehicle course angle is calculated in real time by utilizing the fusion of the satellite speed course and the inertial navigation information, the defects of gyroscope integral divergence and low satellite speed course precision are overcome, and the continuous, high-precision and stable course angle is obtained.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. A path tracking control method for agricultural and mining articulated vehicles is characterized by comprising the following steps: the method comprises the following steps:
step (1): recording parameters of the articulated vehicle;
step (2): the controller performs RTK resolving according to the base station differential signal acquired by the GNSS board card to acquire real-time position information of the vehicle, and performs attitude estimation and attitude correction through the IMU and the resolved position information to acquire accurate attitude information;
and (3): when an automatic driving instruction is issued, calculating the transverse deviation and speed information between the vehicle and the preset path according to the preset running track, the current position and the current course of the vehicle, and if not, returning to the step (2);
and (4): calculating to obtain a target angle of the hinged part according to the transverse deviation, the course deviation, the angle of the hinged part, the feedback gain matrix and the integral coefficient of the transverse deviation;
and (5): and sending the target angle of the hinged part to the electric steering wheel, and controlling the hydraulic device by the electric steering wheel to change the angle of the hinged part.
2. An articulated vehicle path following control method for agricultural and mining use according to claim 1, characterized in that in step (1): the parameters recorded for the articulated vehicle include the distance from the center of the front wheel to the articulation, the distance from the center of the rear wheel to the articulation, and the distance from the GNSS antenna to the center of the wheel.
3. The articulated vehicle path tracking control method for agricultural and mining use according to claim 2, wherein the step (3) further comprises: adjusting the weight of course deviation and transverse deviation in the whole objective function according to the speed information of the vehicle; and updating the kinematic error model of the vehicle according to the speed information of the vehicle, and calculating a feedback gain matrix according to the updated objective function and the error model.
4. The method for controlling the path tracking of the agricultural and mining articulated vehicles according to claim 2, wherein the control module comprises a controller, a satellite antenna, an android display, an electric steering wheel and an angle sensor, the satellite antenna is installed on the roof of the front frame, the angle sensor is installed at the joint of the front frame and the rear frame, and the rest equipment is installed in the cab.
5. The method as claimed in claim 4, wherein the controller is internally provided with a GNSS board card, an IMU and a central processor, the electric steering wheel and the angle sensor are communicated with the controller through a CAN bus, and differential information sent by the base station or the server is received in real time through the 4G/GPRS receiver and is sent to the GNSS module.
6. The method for controlling the path tracking of the agricultural and mining articulated vehicle as claimed in claim 5, wherein the central processing unit is used for acquiring data fed back by the GNSS board card, the IMU, the electric steering wheel and the angle sensor, and the real-time position information, the speed information, the course information and the angle information of the articulated part of the vehicle are acquired by combining a navigation algorithm and a single antenna fusion method; calculating the transverse deviation and course deviation information between the vehicle and a reference path according to the pose information obtained in real time and the operation path information issued by the android display; and sending the information of the transverse deviation, the course deviation, the speed and the angle at the hinged part to a control method, calculating a target angle at the hinged part, sending the target angle to the electric steering wheel through a CAN bus, and finishing control execution by the electric steering wheel.
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